Master/slave manipulator and control method therefor

PCT No. PCT/JP95/01864 Sec. 371 Date Mar. 20, 1997 Sec. 102(e) Date Mar. 20, 1997 PCT Filed Sep. 19, 1995 PCT Pub. No. WO96/09144 PCT Pub. Date Mar. 28, 1996The present invention relates to a master/slave manipulator and a method for controlling the same, in which a large working area and good controllability can be provided and a corresponding position shift and an enlargement ratio change can also be attained. To this end, a plurality of representing points are set on and inside a closed surface (A1) of an operating area (A) of one manipulator, while a plurality of target points corresponding to the plurality of representing points are set on and inside a closed surface (B1) of a working area (B) of the other manipulator. Working amounts ( beta 1, beta 2, theta 1, theta 2) when the leading ends (11, 12) of the one manipulator and the other manipulator respectively reach the plurality of representing points and the plurality of target points, and a corresponding relationship between the working amounts of the two manipulators are obtained; and when the slave (2) is to be operated, the working amounts ( beta 1, beta 2) of the master (1) are converted into working amounts ( theta 1, theta 2) of the slave (2) to thereby operate the slave (2).